Changeset 158 in flair-src for trunk/lib/FlairSimulator/src/X4.cpp

Timestamp:

03/05/17 10:50:56 (6 years ago)

Author:

Sanahuja Guillaume

Message:

corrected simu/device id for sensors

File:

• trunk/lib/FlairSimulator/src/X4.cpp (modified) (4 diffs)

trunk/lib/FlairSimulator/src/X4.cpp

@@ -16 +16 @@
 
 #include "X4.h"
-#include "Simulator.h"
 #include <SimuBldc.h>
 #include <TabWidget.h>
@@ -46 +45 @@
 namespace simulator {
 
-X4::X4(const Simulator *parent, std::string name, int dev_id)
-    : Model(parent, name) {
+X4::X4(std::string name, uint32_t modelId)
+    : Model(name,modelId) {
   Tab *setup_tab = new Tab(GetTabWidget(), "model");
   m = new DoubleSpinBox(setup_tab->NewRow(), "mass (kg):", 0, 20, 0.1);
@@ -75 +74 @@
                             5); // moment d'inertie d'un axe (N.m.s²/rad)
 
-  motors = new SimuBldc(this, name, 4, dev_id);
+  motors = new SimuBldc(this, name, 4, modelId,0);
   
   SetIsReady(true);
@@ -96 +95 @@
 
   // cylinders are aligned with y axis
-  red_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 255, 0, 0));
-  black_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 128, 128, 128));
-  motor = geo->createCylinderMesh(7.5, 15, 16); //,SColor(0, 128, 128, 128));
+  IMesh *red_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 255, 0, 0));
+  IMesh *black_arm = geo->createCylinderMesh(2.5, 100, 16, SColor(0, 128, 128, 128));
+  IMesh *motor = geo->createCylinderMesh(7.5, 15, 16); //,SColor(0, 128, 128, 128));
   // geo->drop();
 
   ITexture *texture = getGui()->getTexture("carbone.jpg");
-  fl_arm = new MeshSceneNode(this, red_arm, vector3df(0, 0, 0),
+  MeshSceneNode *fl_arm = new MeshSceneNode(this, red_arm, vector3df(0, 0, 0),
                              vector3df(0, 0, -135));
-  fr_arm = new MeshSceneNode(this, red_arm, vector3df(0, 0, 0),
+  MeshSceneNode *fr_arm = new MeshSceneNode(this, red_arm, vector3df(0, 0, 0),
                              vector3df(0, 0, -45));
-  rl_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
+  MeshSceneNode *rl_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
                              vector3df(0, 0, 135), texture);
-  rr_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
+  MeshSceneNode *rr_arm = new MeshSceneNode(this, black_arm, vector3df(0, 0, 0),
                              vector3df(0, 0, 45), texture);
 
   texture = getGui()->getTexture("metal047.jpg");
-  fl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, 2.5),
+  MeshSceneNode *fl_motor = new MeshSceneNode(this, motor, vector3df(70.71, -70.71, 2.5),
                                vector3df(90, 0, 0), texture);
-  fr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, 2.5),
+  MeshSceneNode *fr_motor = new MeshSceneNode(this, motor, vector3df(70.71, 70.71, 2.5),
                                vector3df(90, 0, 0), texture);
-  rl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, 2.5),
+  MeshSceneNode *rl_motor = new MeshSceneNode(this, motor, vector3df(-70.71, -70.71, 2.5),
                                vector3df(90, 0, 0), texture);
-  rr_motor = new MeshSceneNode(this, motor, vector3df(-70.71, 70.71, 2.5),
+  MeshSceneNode *rr_motor = new MeshSceneNode(this, motor, vector3df(-70.71, 70.71, 2.5),
                                vector3df(90, 0, 0), texture);